JPH054192A - Automatic gas cutting device - Google Patents

Abstract

(57) [Abstract] [Purpose] To improve the safety by preventing the multi-axis and multi-joint robot from operating in the state where the impact detector does not function. [Arrangement] An automatic gas cutting device comprising a multi-axis articulated robot device having a gas crater attached to the tip and a program control device for controlling the robot device, wherein an impact detection device is provided at the gas crater to detect an impact. Then, all the movements of the robot device are stopped at that position and an alarm is output. Further, when the multi-axis multi-joint robot apparatus is activated with the function of the impact detection apparatus stopped, it is prohibited to operate. [Effects] When the shock detection device is reset and restarted, the shock detection device can be set to a state in which shock detection can always be performed, and the drive power supply can be automatically connected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sprue for a cast steel product, a riser,
Used for cutting runners and weirs. The present invention relates to an automatic gas cutting device that automatically cuts a sprue, riser, runner, weir, etc. of a cast steel product. INDUSTRIAL APPLICABILITY The present invention can be used not only for cast steel products but also for finishing work of parts cast using other metals as materials.

[0002]

2. Description of the Related Art Conventionally, a finishing work for cutting a sprue, a riser, a runway, a weir, etc. of a cast steel product is performed by a plurality of workers including workers having special knowledge and experience and skill. It was done at work.

[0003]

This type of work requires special knowledge and skill because the degree of heating at the cutting point and the cutting timing after heating differ depending on the size and shape of the workpiece. In addition, when the work piece is large and heavy such as an axle housing and a cylinder head, a plurality of work assistants are required.

Further, there is a problem that working with a gas burner is dangerous, and that work must be promptly improved in terms of occupational health for working in a bad environment where sparks and iron powder scatter around. is there.

In order to solve such a problem, an automatic device having a gas crater at the tip was designed by using a multi-axis and multi-joint robot apparatus. One crater had a predetermined size at a predetermined position. If it is not connected, (2) the work type is incorrectly entered, (3) the work is not in the correct position, (4) the grate to be cut is abnormally large, etc. There is a possibility of hitting the work piece, and in order to solve this problem, it has been proposed to attach an impact detection device to the crater.

A manual switch for shutting off the detection output is attached to the shock detection device. When a shock of a predetermined value or more is sensed when the manual switch is closed, the detection output is sent to the program control device. , The program controller that received the detection output shuts off the power supply to the multi-axis articulated robot device and stops all operations. When the manual switch is open, the power supply circuit to the multi-axis articulated robot device is not cut off. It is configured as follows.

Therefore, when the gas crater is replaced or the contact is impacted while the manual switch is set to the closed state, the power supply to the multi-axis and multi-joint robot apparatus is stopped, and therefore the power supply is stopped. When resetting and restarting the impact detection device, the operation of switching the manual switch to the closed state after the power switch is turned on again after the manual switch is once opened.

However, in actual operation, it may be forgotten to return the manual switch to the closed state, and if work is performed in the open state, the gas crater may come into contact with the work piece or other object. However, since the impact is not detected by the impact detection device, it causes large damage.

The present invention has been made under such a background, and an object thereof is to provide a device which does not operate except when the impact detection device is set when the multi-axis and multi-joint robot device is activated. And

[0010]

SUMMARY OF THE INVENTION The present invention provides an automatic gas cutting apparatus comprising a multi-axis articulated robot apparatus having a gas crater at its tip, and a program controller for controlling the robot apparatus. An impact detection device, and the program control device includes means for stopping all of the movements of the robot device at that position and outputting an alarm output when the detection output of the impact detection device is input. Is characterized by.

A manual switch for shutting off the detection output of the shock detecting device is installed in the vicinity of the shock detecting device, and the program control device prohibits starting when the manual switch is in the shut-off state. It is desirable to include.

[0012]

[Operation] When the workpiece is placed and fixed on the surface plate installed on the rotary tilt positioner, and the start instruction is input from the operation panel, the automatic ignition device of the multi-axis articulated robot device supplies the gas crater. The ignited acetylene gas is ignited, and the ignited gas crater approaches a position with a predetermined distance from the workpiece according to the movement process that was input in advance by teaching, and corresponds to a series of operations of the rotary tilt positioner. Then, the cutting work at the designated place is executed.

In the cutting work process, if the gas crater comes into contact with the workpiece or another object for some reason during movement, the impact detector detects the impact and sends it to the program controller. When the detection output is input, the program control device stops all the operations of the multi-axis and multi-joint robot device at that position and sends an alarm output. Further, when the manual switch is not connected to the impact detection device side and no impact is detected, the circuit on the start switch side is opened accordingly, so the impact detection device does not function and the multi-axis multi-joint robot device Can be prevented from operating, and the gas crater can be prevented from coming into contact with the work piece or other objects and being damaged.

[0014]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is a diagram showing the overall configuration of an embodiment of the present invention.

In the embodiment of the present invention, a multi-axis multi-joint robot apparatus 2 having a gas crater 1 attached to its tip, a program control apparatus 3 for controlling this multi-axis multi-joint robot apparatus 2, and a multi-axis multi-joint robot apparatus. 2, a rotary tilt positioner 5 installed on a common base 4, a surface plate 6 whose position is controlled by the rotary tilt positioner 5, and a jig 7 for mounting a workpiece on a predetermined position on the surface plate 6. , Rotary tilt positioner 5
Is controlled by the program control device 3, the gas crater 1 is provided with an automatic ignition device 8 controlled by the program control device 3, and the program control device 3 includes a plurality of operation modes including a teaching mode and an execution mode. A control unit is mounted which includes an operation mode and repeatedly executes a series of operations input in the teaching mode in an execution mode activated by an operation input.

An interface board (sequence control board) 1 is provided between the multi-axis articulated robot apparatus 2 and the program control apparatus 3.
0, and the operation panel 11 is connected to the interface panel 10.

FIG. 2 is a side view showing the structure of a multi-axis multi-joint robot apparatus according to the present invention.

A combustion gas supply device 20 composed of a solenoid valve 21, an igniter 22, a flashback preventer 23, and a regulating valve 24 is provided on the upper portion of the multi-axis articulated robot apparatus 2, and the gas crater 1 is further provided. An impact detection device 9 mechanically coupled to is provided.

FIG. 3 is a side view showing the structure of the shock detecting device according to the present invention. A limit switch, which is closed due to the displacement generated when the impact received by the gas crater 1 is transmitted, is provided inside the impact detection device, and further, the output transmission to the program control device 3 can be interrupted. A manual switch 9a is provided.

Further, when the detection output of the impact detection device 9 is input to the program control device 3, all the motions of the multi-axis and multi-joint robot device 2 are stopped at that position, and an alarm output is sent out. And the manual switch 9a
Means for prohibiting activation of the multi-axis and multi-joint robot apparatus 2 when is in the cutoff state.

FIG. 4 is a diagram showing an electric circuit relating to a manual switch of the shock detecting device in the embodiment of the present invention. The manual switch 9a is connected to a limit switch 9b incorporated in the impact detection device 9, and a snap switch 9a1 for opening and closing the limit switch 9a and a start switch 11a provided on the operation panel 11 are connected.
And a snap switch 9a2 that is connected to and is opened and closed. The snap switches 9a1 and 9a2 are configured to operate in conjunction with each other.

Next, the operation of the shock detecting device according to the present invention constructed as described above will be described.

The work piece is mounted and fixed on the surface plate 6, and the manual switch 9a is operated to operate the start switch 11a provided on the operation panel 11 with the snap switches 9a1 and 9a2 connected to the contacts S1 and S3. When set to the closed state, the interface board (sequence control board) 1
A start signal is sent to 0, and the multi-axis articulated robot apparatus 2
Performs cutting work according to a program taught in advance.

When the gas crater 1 comes into contact with a work piece or other object for some reason during the cutting operation of the multi-axis articulated robot apparatus 2, the impact detection apparatus 9 receives an impact due to the contact, and the impact causes The limit switch 9b and the contact S5 shown in FIG. 4 are closed, and a signal indicating that an impact has been received is sent to the program control device 3.

Upon receiving the signal, the program control device 3 immediately stops all the operations of the multi-axis and multi-joint robot device 2 at that position and sends an alarm output to notify the operator of the occurrence of an abnormality.

The operator who receives the notification of the abnormality operates the manual switch 9a, and snaps 9a1 and 9a.
2 is switched to the contacts S2 and S4, and inspection is performed with the circuits of the limit switch 9b and the start switch 11a being cut off, and the impact detection device 9 is reset after confirming that it is in a normal state.

By this reset, the limit switch 9b
The contact S5 and the contact S5 are opened, and the shock detection device 9 is set to a state in which a shock can be detected. After that, the operator switches the manual switch 9a, and the snap switch 9
a1 and 9a2 and the contacts S1 and S2 are set to be connected to each other, and the start switch 11a is used for restarting.
When is pressed to close the start circuit, a start signal is sent to the interface board (sequence control board) 10, and the multi-axis articulated robot apparatus 2 continues the cutting work according to the program.

At this restart, the start switch 11a may be pushed by forgetting to switch the manual switch 9a. In that case, the snap switch 9 of the manual switch 9a is pressed.
Since a2 is open, the multi-axis articulated robot apparatus 2
There is no current supply to it and it is not driven. This makes it possible to know that the user has forgotten to switch the manual switch 9a.

In this way, the manual switch 9a is always switched, the snap switch 9a1 is connected to the contact S1, and the snap switch 9a2 is restarted with the contact S3 connected. The cutting operation is not performed without being set to the enabled state, and the starter circuit is set to the closed state at the same time, so that the power can be turned on again at the same time without any other operation.

Since the impact detection device 9 is configured to detect an impact with a slight contact force, the impact can be detected even by using a wrench at the time of inspection and maintenance or replacement of the gas crater 1. Therefore, if the work is performed while the detection state is set, the limit switch 9b and the contact S5 are closed due to the impact, and the program control circuit 3 is started even if the start switch 11a is pressed after the work is completed. The stop signal remains emitted. Therefore, it is necessary to reset the impact detection device 9 in order to restart the multi-axis articulated robot apparatus 2 without starting it.

The manual switch 9a is constructed so that the circuit on the side of the limit switch 9b and the circuit on the side of the starting switch 11a can be opened and closed in cooperation with each other in order to prevent such a problem from occurring. Manual switch 9a snap switch 9a before removing
1 and 9a2 and contacts S2 and S4 are connected so that the limit switch 9b and contact S
5 remains open, and it is not necessary to reset the limit switch 9b after removing and installing the gas crater 1. Further, at this time, even if the start circuit is in the open state and the start switch is accidentally pressed, the multi-axis and multi-joint robot apparatus 2 does not start and the safe state can be maintained.

Even when the gas crater 1 is removed or attached in this way, the snap switches 9a1 and 9a2 are operated by operating the manual switch 9a after the work is completed so that the contacts S1 and S2 on the side of the limit switch 9b and the start switch 11a.
It can be restarted by switching to connect with and pressing the start switch 11a. In addition, even if the user forgets to switch the manual switch 9a, the start switch 1
Since the multi-axis multi-joint robot apparatus 2 does not start when 1a is pressed, it is possible to similarly know that switching has been forgotten.

[0033]

As described above, according to the present invention, it is possible to prohibit the operation of the multi-axis and multi-joint robot apparatus in a state where the impact detection apparatus does not function, and to maintain a safe working state. effective.

Further, at the time of inspection and maintenance or replacement of the gas crater, the detection function of the impact detection device can be temporarily stopped by switching the manual switch, so that it is not necessary to reset at the time of restart, and further,
Since the start-up circuit opens and closes at the same time, an extra operation for turning on the power can be eliminated, and the restart time can be shortened.

[Brief description of drawings]

FIG. 1 is a diagram showing the overall configuration of an embodiment of the present invention.

FIG. 2 is a side view showing the configuration of a multi-axis multi-joint robot apparatus according to the present invention.

FIG. 3 is a side view showing the configuration of an impact detection device according to the present invention.

FIG. 4 is a diagram showing an electric circuit relating to a manual switch of the impact detection device in the embodiment of the present invention.

[Explanation of symbols]

1 gas crater 2 Multi-axis articulated robot device 3 Program control device 4 foundation 5 rotation tilt positioner 6 surface plate 7 jig 8 Automatic ignition device 9 Impact detection device 9a Manual switch 9a1, 9a2 snap switch 9b Limit switch 10 Interface board (sequence control board) 11a Start switch 11 Operation panel 20 Combustion gas supply device 21 Solenoid valve 22 Igniter 23 Flashback preventer 24 Adjustment valve S1, S2, S3, S4, S5 contacts

Claims (3)

[Claims] 1. An automatic gas cutting device comprising a multi-axis and multi-joint robot apparatus having a gas crater at its tip and a program controller for controlling the robot apparatus, wherein the crater is provided with an impact detection device, The program control device includes means for stopping all of the movements of the robot device at that position and outputting an alarm output when the detection output of the impact detection device is input. . 2. The automatic gas cutting device according to claim 1, further comprising a manual switch installed in the vicinity of the impact detection device for shutting off a detection output of the impact detection device. 3. The automatic gas cutting device according to claim 2, wherein the program control device includes means for prohibiting activation when the manual switch is in a cutoff state.